CN102736396B - Hyperbolic concave refractive and reflective panorama camera and making method and application thereof - Google Patents

Abstract

The invention discloses a hyperbolic concave refractive and reflective panorama camera and a making method and application thereof. The panorama camera comprises a base and a common perspective camera which can be arranged on a vehicular platform; a hyperbolic concave reflector for reflecting pavement images is arranged in front of a lens of the common perspective camera; the optical axis of the hyperbolic concave reflector is superposed with the common perspective camera; and the hyperbolic concave reflector is connected to the base through a lifting support. The making method comprises the following steps of: establishing a hyperbolic concave refractive and reflective panorama camera model, determining the distance between the hyperbolic concave reflector and the perspective center of the common perspective camera, determining lens focus of the common perspective camera and charge coupled device (CCD) size, erecting the common perspective camera support, and calibrating the camera. The panorama camera has the characteristics of simple structure, easiness in assembly and the like, and can be used for acquiring pavement image information in the highway survey process; and the acquired images have low distortion in horizontal scenes and vertical scenes.

Description

Hyperbolic concave surface refractive and reflective panorama camera and preparation method thereof and application

Technical field

The present invention relates to videographic measurment, image procossing and optical design arts, relate to further and utilize hyperbolic concave mirror common perspective camera of arranging in pairs or groups to carry out camera and the Production and application thereof of panoramic imagery.

Background technology

China's building highway is started late, build experience, level is limited, be open to traffic or how many highways of building all also exists disease, it directly has influence on quality and the normal operation of highway, some serious plant disease, as pavement cracking, sink, come to nothing, faulting of slab ends, subgrade deformation etc., also directly can threaten the traffic safety of operational vehicle on highway.In the face of so huge highway network, road quality monitoring service equipment supporting with it is is also urgently researched and developed.

Traditional Highway Survey method uses common perspective camera, can only cover limited angle, to obtain large-scale visual field, need to set up multiple camera and gathering image simultaneously.Therefore adopt refraction-reflection omnidirectional imaging system to replace general camera exploration road surface, both simplified system architecture, and saved budget again, and be subject to increasing attention in recent years and paid close attention to.But the pattern distortion that existing refraction-reflection omnidirectional imaging system directly collects is very large, and edge resolution is low, if splice image, needs to carry out inverse perspective mapping, the calculated amount of process is in real time large, proposes high requirement to computer hardware.The people such as Gaspar J. propose to have occurred that (Constant resolution omnidirectional cameras is shown in by document to horizontal equal proportion mirror, include in Proceedings of Third Workshop on Omnidirectional Vision, Copenhagen, Denmark (held with ECCV02), 2002:27-34), adopt the omnidirectional imaging system of this minute surface less at the image deformation of horizontal scene, but this catoptron is very large in the distortion of vertical scene, and the section curve forming this minute surface only has numerical solution, its center difficulty of processing is large, panorama sketch middle position is caused almost not have imaging.

Summary of the invention

The technical problem to be solved in the present invention overcomes the deficiencies in the prior art, there is provided a kind of structure simple, be easy to process and assemble, horizontal scene with vertical scene have lower distortion and be particularly suitable for the hyperbolic concave surface refractive and reflective panorama camera of Highway Survey, also corresponding method for making and the application that this hyperbolic concave surface refractive and reflective panorama camera is provided.

For solving the problems of the technologies described above, the technical scheme that the present invention proposes is a kind ofly be installed on the hyperbolic concave surface refractive and reflective panorama camera that vehicle platform carries out pavement image information acquisition, described panorama camera comprises the base that can be installed in vehicle platform and the common perspective camera be installed on this base, the camera lens front of described common perspective camera is provided with the hyperbolic concave mirror that can be used for reflecting pavement image, the optical axis of described hyperbolic concave mirror and the optical axis coincidence of common perspective camera, described hyperbolic concave mirror is connected on described base by liftable support.

In above-mentioned hyperbolic concave surface refractive and reflective panorama camera, described liftable support is preferably three-legged supporting frame, three supporting legs of described three-legged supporting frame are parallel to each other and are laid in around described common perspective camera perpendicular to base, the intersection point of described three supporting legs and base is laid on equilateral leg-of-mutton three summits, and the optical axis of described hyperbolic concave mirror crosses this equilateral leg-of-mutton center.

In above-mentioned hyperbolic concave surface refractive and reflective panorama camera, preferably, the geometrical focus F of described hyperbolic concave mirror meets apart from the distance of the centre of perspectivity O of described common perspective camera and makes the image relation curve of described panorama camera close to linear change.

In above-mentioned hyperbolic concave surface refractive and reflective panorama camera, described image relation curve is established preferably through with under type: be initial point with the centre of perspectivity O of described common perspective camera, be x-axis with horizontal direction, be that z-axis sets up x-z plane coordinate system with vertical direction, this time image plane was the surface level of x-axis, if the horizontal scene at pavement image place is positioned at the z=-H place below picture plane, the geometrical focus F of described hyperbolic concave mirror is made to be positioned at z=h place directly over initial point O; If the coordinate of certain 1 D is (T ,-H) in horizontal scene, be derived from the light at this D place through described hyperbolic concave mirror arrives as plane after P point reflection, if the coordinate of this time point D picture point of correspondence in picture plane is (t, 0); Described image relation curve can be established out on this basis according to light path principle of reflection.

In above-mentioned hyperbolic concave surface refractive and reflective panorama camera, described common perspective camera is installed on described base preferably through the four-dimensional adjusting bracket of optics, and described four-dimensional adjusting bracket refers to that bidimensional translational adjustment adds bidimensional angular adjustment.

As a total technical conceive, the present invention also provides a kind of method for making of above-mentioned hyperbolic concave surface refractive and reflective panorama camera, comprises the following steps:

(1) hyperbolic concave surface refractive and reflective panorama camera model is set up:

Because hyperbolic concave surface refractive and reflective panorama camera of the present invention is Central Symmetry imaging, therefore hyperbolic concave surface refractive and reflective panorama camera model can be set up in the following manner: be initial point with the centre of perspectivity O of described common perspective camera, be x-axis with horizontal direction, be that z-axis sets up x-z plane coordinate system with vertical direction, this time image plane was the surface level of x-axis, if horizontal scene is positioned at the z=-H place below picture plane, the geometrical focus F of described hyperbolic concave mirror is made to be positioned at z=h place directly over initial point O; If the coordinate of certain 1 D is (T ,-H) in horizontal scene, be derived from the light at this D place through described hyperbolic concave mirror arrives as plane after P point reflection, if the coordinate of this time point D picture point of correspondence in picture plane is (t, 0); On this basis, set up the relation between the x-axis coordinate T of starting point D and the x-axis coordinate of its picture point, draw out image relation curve T=x (t) of described hyperbolic concave surface refractive and reflective panorama camera;

(2) distance of hyperbolic concave mirror and the common perspective camera centre of perspectivity is determined:

For ensureing horizontal scene imaging approximately linear, need to adjust above-mentioned image relation curve, and the linearity of this image relation curve is relevant to the distance h of the common perspective camera centre of perspectivity with the geometrical focus of hyperbolic concave mirror, therefore the distance of hyperbolic concave mirror and the common perspective camera centre of perspectivity is by determining with under type: the distance h of geometrical focus F to common perspective camera centre of perspectivity O point adjusting described hyperbolic concave mirror, (diameter dimension and face shape parameter (the parameter a in seeing below thereof of hyperbolic concave mirror is mainly referred to when other Parameter Conditions is constant, b)), upwards progressively move described hyperbolic concave mirror, the z-axis coordinate h of focal point F is increased gradually from 0, and often increase certain distance (distance of every minor tick is preferably 2mm ~ 6mm) draw out this state under image relation curve (drawing this image relation curve by mathematical softwares such as Matlab or Mathematics), until the image relation curve drawn out is close to the adjustment of stop distance h during (or approximate) linear change, the now numerical value h of distance h ₀be the hyperbolic concave mirror of establishment and the distance (optimum distance) of the common perspective camera centre of perspectivity,

(3) lens focus and the CCD size of common perspective camera is determined:

If the outermost radius scope that described panorama camera intends the horizontal scene covered is R _max, by adjusting common perspective camera erection height H, adjust the lens focus f of described common perspective camera, can obtain the horizontal coordinate maximal value of object point corresponding picture point in picture plane of outermost radius scope, this maximal value is and obtains outermost radius scope R _maxthe lower limit of corresponding common perspective camera CCD minor face half length;

(4) common perspective camera (and demarcating camera) is installed:

Using the four-dimensional adjusting bracket of optics to be installed by described common perspective camera is positioned on base, with liftable support, described hyperbolic concave mirror is installed on base simultaneously, then adopt described hyperbolic concave mirror to fix, described common perspective camera carries out the tactic pattern of finely tuning, by regulating four-dimensional adjusting bracket to make the optical axis of common perspective camera and the optical axis coincidence of hyperbolic concave mirror, complete the fabrication and installation of hyperbolic concave surface refractive and reflective panorama camera.The OCam labor Toolbox calibration for cameras using Dr.Davide Scaramuzza to provide in Matlab.

As a total technical conceive, the present invention also provides a kind of above-mentioned application of hyperbolic concave surface refractive and reflective panorama camera in Highway Survey process, and described application specifically refers to the collection this hyperbolic concave surface refractive and reflective panorama camera being installed on vehicle platform laggard walking along the street face image information.In the gatherer process carrying out described pavement image information, the travel speed of vehicle preferably controls at below 32.5km/h.

Compared with prior art, the invention has the advantages that:

1. on the basis of traditional refractive and reflective panorama camera, the present invention creatively adopts hyperbolic concave mirror reflection ray, obtains close to linear horizontal scene imaging, only has less distortion in the imaging of vertical scene simultaneously.

2. compared with the panorama camera formed with horizontal equal proportion mirror, the antenna height of hyperbolic concave surface refractive and reflective panorama camera of the present invention does not affect the distortion of imaging, and therefore can change camera antenna height flexibly according to the needs of exploration scope, the scope of application is more wide.

3. the present invention is by being arranged on the four-dimensional regulating platform (bidimensional translational adjustment+bidimensional angular adjustment) of optics by common perspective camera, hyperbolic concave mirror is then taked to fixedly mount mode in the horizontal direction, solves the alignment issues of hyperbolic concave mirror and common perspective central optical camera axis effectively, easily.

Generally speaking, hyperbolic concave surface refractive and reflective panorama camera of the present invention have structure simple, be easy to process and assemble, be easy to regulate the advantages such as use, it is imaged on horizontal scene and has lower distortion with in vertical scene, has broad application prospects in fields such as Highway Survey from now on, pavement image information acquisition and draftings.

Accompanying drawing explanation

Fig. 1 is the photo in kind of hyperbolic concave surface refractive and reflective panorama camera in the embodiment of the present invention.

Fig. 2 is the front view of hyperbolic concave surface refractive and reflective panorama camera in the embodiment of the present invention.

Fig. 3 is the vertical view of hyperbolic concave surface refractive and reflective panorama camera in the embodiment of the present invention.

Fig. 4 is the side view of hyperbolic concave surface refractive and reflective panorama camera in the embodiment of the present invention.

Fig. 5 is the process chart of panorama camera method for making in the embodiment of the present invention.

Fig. 6 is the planar hull modelling schematic diagram of panorama camera in the embodiment of the present invention.

Fig. 7 is image graph of relation when h gets 4mm in the embodiment of the present invention.

Fig. 8 is image graph of relation when h gets 8mm in the embodiment of the present invention.

Fig. 9 is image graph of relation when h gets 12mm in the embodiment of the present invention.

Figure 10 is the general view of the chessboard scene being used to imaging in the embodiment of the present invention.

Figure 11 is the imaging effect figure of hyperbolic concave surface refractive and reflective panorama camera in the embodiment of the present invention.

Figure 12 is hyperboloid refractive and reflective panorama camera imaging design sketch in the embodiment of the present invention.

Figure 13 is horizontal equal proportion refractive and reflective panorama camera imaging design sketch in the embodiment of the present invention.

Marginal data:

1. base; 2. common perspective camera; 3. hyperbolic concave mirror; 4. liftable support; 5. top cover; 6. four-dimensional adjusting bracket.

Embodiment

Below in conjunction with Figure of description and specific embodiment, the invention will be further described.

Embodiment:

A kind ofly of the present inventionly as shown in Figure 1 to 4 be installed on the hyperbolic concave surface refractive and reflective panorama camera that vehicle platform carries out pavement image information acquisition, this panorama camera comprises the base 1 that can be installed in vehicle platform and the common perspective camera 2 be installed on this base 1, the camera lens front of common perspective camera 2 is provided with the hyperbolic concave mirror 3 that can be used for reflecting pavement image, top cover 5 is equiped with above hyperbolic concave mirror 3, the optical axis of hyperbolic concave mirror 3 and the optical axis coincidence of common perspective camera 2, hyperbolic concave mirror 3 is connected on base 1 by liftable support 4.

In the hyperbolic concave surface refractive and reflective panorama camera of the present embodiment, liftable support 4 is three-legged supporting frame, three supporting legs of this three-legged supporting frame are parallel to each other and are laid in common perspective camera 2 around perpendicular to base 1, article three, the intersection point of supporting leg and base 1 is laid on equilateral leg-of-mutton three summits, and the optical axis of hyperbolic concave mirror 3 crosses this equilateral leg-of-mutton center.

In the hyperbolic concave surface refractive and reflective panorama camera of the present embodiment, the geometrical focus F of hyperbolic concave mirror 3 meets apart from the distance of the centre of perspectivity O of common perspective camera 2 makes the image relation curve of panorama camera close to linear change.This image relation curve establishes in the following manner: see Fig. 6, be initial point with the centre of perspectivity O of common perspective camera 2, be x-axis with horizontal direction, be that z-axis sets up x-z plane coordinate system with vertical direction, this time image plane was the surface level of x-axis, if the horizontal scene at pavement image place is positioned at the z=-H place below picture plane, the geometrical focus F of hyperbolic concave mirror 3 is made to be positioned at z=h place directly over initial point O; If the coordinate of certain 1 D is (T ,-H) in horizontal scene, be derived from the light at this D place through hyperbolic concave mirror 3 arrives as plane after P point reflection, if the coordinate of this time point D picture point of correspondence in picture plane is (t, 0); Image relation curve can be established out on this basis according to light path principle of reflection.

In the hyperbolic concave surface refractive and reflective panorama camera of the present embodiment, common perspective camera 2 is installed on base 1 by the four-dimensional adjusting bracket 6 of optics, and four-dimensional adjusting bracket refers to that bidimensional translational adjustment adds bidimensional angular adjustment.

The method for making of the hyperbolic concave surface refractive and reflective panorama camera of the present embodiment as shown in Figure 5, comprises the following steps:

(1) hyperbolic concave surface refractive and reflective panorama camera model is set up

Because hyperbolic concave surface refractive and reflective panorama camera of the present invention is Central Symmetry imaging, hyperbolic concave surface refractive and reflective panorama camera model therefore can be set up in the following manner.As shown in Figure 6, be initial point with the centre of perspectivity O of common perspective camera 2, be x-axis with horizontal direction, be that z-axis sets up x-z plane coordinate system with vertical direction, this time image plane was the surface level of x-axis, if horizontal scene is positioned at the z=-H place below picture plane, the geometrical focus F of hyperbolic concave mirror 3 is made to be positioned at z=h place directly over initial point O; If the coordinate of certain 1 D is (T ,-H) in horizontal scene, be derived from the light at this D place through hyperbolic concave mirror 3 arrives as plane after P point reflection, if this time point D corresponding picpointed coordinate in picture plane is (t, 0); On this basis, start to set up the relation between the x-axis coordinate T of starting point D and the x-axis coordinate of its picture point, draw out image relation curve T=x (t) of hyperbolic concave surface refractive and reflective panorama camera, detailed process is as follows:

First, the lower half of curve of hyperbolic concave mirror 3 can be expressed as:

$z=-a\sqrt{(\frac{x^2}{b^2}+1)}+h+c---\left(1\right);$

The function that setting object point horizontal coordinate x (t) is picture point horizontal coordinate t, against the relation between light path derivation x (t) and t, the image relation function obtained is:

$x\left(t\right)=x_p\left(t\right)-\frac{H+z_p\left(t\right)}{k_p\left(t\right)}---\left(2\right);$

In formula (2):

$x_p\left(t\right)=\frac{b^2\mathrm{ft}(f+c+h)-\mathrm{abt}\sqrt{b^2{f}^2+b^2{t}^2+t^2{(f+h)}^2+{2t}^{2}c(f+h)}}{b^2{f}^2-a^2{t}^2}---\left(3\right);$

$z_p\left(t\right)=\frac{f}{t}{x}_p\left(t\right)-f---\left(4\right);$

$k_p\left(t\right)=\frac{\tan 2\mathrm{\β}-\tan \mathrm{\α}}{1+\tan 2\mathrm{\β}\tan \mathrm{\α}},$ $\tan \mathrm{\α}=\frac{f}{t},$ $\tan 2\mathrm{\β}=\frac{{2k}_{\⊥}}{1-k_{\⊥}^2},$ $k_{\⊥}=\frac{b^2}{a}{(\frac{x_p^2}{b^2}+1)}^{\frac{1}{2}}\frac{1}{x_p\left(t\right)}---\left(5\right)$

In above formula, the value of a, b, c is determined by the fundamental property of hyperbolic concave mirror, and angle [alpha], β, γ are then see the mark in Fig. 6.

(2) distance of hyperbolic concave mirror and the common perspective camera centre of perspectivity is determined

For ensureing horizontal scene imaging approximately linear, need the image relation curve adjusting the present embodiment panorama camera, and the linearity of this image relation curve is relevant to the distance h of common perspective camera 2 centre of perspectivity with the geometrical focus of hyperbolic concave mirror 3, therefore hyperbolic concave mirror 3 and the distance of common perspective camera 2 centre of perspectivity are by determining with under type: the distance h of geometrical focus F to common perspective camera centre of perspectivity O point adjusting hyperbolic concave mirror 3, when other Parameter Conditions is constant, (in the present embodiment, each parameter reference values can by following value, H=3.5m, the parameter a0.5 of hyperbolic mirror, b0.15, common perspective camera focus f=12mm), upwards progressively move hyperbolic concave mirror 3, the z-axis coordinate h of focal point F is increased gradually from 0, and often increase certain distance and draw out image relation curve (drawing this image relation curve by mathematical softwares such as Matlab or Mathematics) under this state, until the image relation curve drawn out is close to the adjustment of stop distance h during (or approximate) linear change, the now numerical value h of distance h ₀be the hyperbolic concave mirror of establishment and the distance (optimum distance) of the common perspective camera centre of perspectivity.The present embodiment is chosen and is often increased 4mm, then draw an image relation curve, draw out curve condition when h gets 4mm, 8mm, 12mm respectively as shown in Fig. 7, Fig. 8, Fig. 9, from Fig. 7 ~ Fig. 9, the image relation curve approximately linear as h=8mm, the therefore best value h of the present embodiment h ₀=8mm.

(3) lens focus and the CCD size of common perspective camera is determined

The scope of horizontal scene increases along with the increase of common perspective camera 2 antenna height H, simultaneously also by common perspective camera 2 lens focus f, CCD bond length R _minimpact, by adjusting common perspective camera 2 antenna height H, adjust the lens focus f of common perspective camera 2, the horizontal coordinate maximal value of the object point that can obtain outermost radius scope corresponding picture point in picture plane, this maximal value is and obtains outermost radius scope (R _max) the lower limit R of corresponding common perspective camera CCD minor face half length _min.When conditions permit, select large-sized CCD as far as possible, be set up in higher position, to obtain large areas imaging as far as possible.

Consider size (the i.e. minor face half length R of CCD _min), estimation between the distance h of the minute surface size (diameter d) of hyperbolic concave mirror, lens focus f and F to O closes and is:

$\frac{f}{R_{\min }}=\frac{f+h}{d/2}---\left(6\right)$

And in formula (6), d, h can determine in above-mentioned steps (2), now f, R can be regulated _minin any one variable, surplus next variable then can be determined by above formula, and preferred mode of operation chooses the brand of common perspective camera first as required with budget and model (namely determines R _min), then select suitable camera lens (namely to determine f).

(4) build installation camera hardware platform, and camera is demarcated

The critical piece of the hyperbolic concave surface refractive and reflective panorama camera of the present embodiment has hyperbolic concave mirror 3 and common perspective camera 2.Wherein, for ensureing image quality, the machining precision of hyperbolic concave mirror 3 should reach submicron order, and hyperbolic concave mirror 3 is set up in above the camera lens of common perspective camera 2 by using metal screw or cloche (the present embodiment use liftable support).Using the four-dimensional adjusting bracket 6 of optics to be installed by common perspective camera is positioned on base 1, with liftable support 4, hyperbolic concave mirror 3 is installed on base 1 simultaneously, then adopt that hyperbolic concave mirror 3 is fixing, common perspective camera 2 carries out the tactic pattern of finely tuning, by regulating four-dimensional adjusting bracket 6 to make the optical axis of common perspective camera 2 and the optical axis coincidence of hyperbolic concave mirror 3, complete the fabrication and installation of hyperbolic concave surface refractive and reflective panorama camera.The OCam labor Toolbox calibration for cameras using Dr.Davide Scaramuzza to provide in Matlab, camera calibration method can with reference to Ph.D. Dissertation: " " research of omni-directional camera calibration technique "; Author: Ying Xianghua; Place: Beijing, Institute of Automation Research of CAS ".

The hyperbolic concave surface refractive and reflective panorama camera of the present embodiment fabrication and installation is utilized to emulate in 3DSMAX.Horizontal scene is a chessboard, and grid size is the general view that 2.5m × 2.5m, Figure 10 give this horizontal scene.The parameter of hyperbolic concave surface refractive and reflective panorama camera is the reference value in above-described embodiment, and Figure 11 gives the one-tenth phase effect of the present embodiment panorama camera.As a comparison, Figure 12 gives the imaging effect of hyperboloid refractive and reflective panorama camera, this hyperboloid refractive and reflective panorama camera imaging center details is enriched, but resolution reduces rapidly a long way off, and is not suitable for road surface investigation; Figure 13 then gives the imaging effect of horizontal equal proportion refractive and reflective panorama camera, horizontal equal proportion refractive and reflective panorama camera distorts little in horizontal scene, but as can be seen from towering chess piece, the distortion in vertical scene is very large, and center does not almost have imaging.From Figure 10 ~ Figure 13, above three kinds of panorama camera imagings are closest to getting a bird's eye view the hyperbolic concave surface refractive and reflective panorama camera seeking for the present embodiment.

After above emulation experiment, again the hyperbolic concave surface refractive and reflective panorama camera of the present embodiment is fixedly mounted in a vehicle platform, camera interface (being generally 1394B or USB) is connected with computing machine, computing machine is equipped with camera control program, after setting light sensitivity, shutter, aperture (being generally automatically) and continuous shooting frame number, start automatic shooting, choose the Highway Survey section of one section of pavement image to be collected, pavement image is clapped by common perspective camera 2 after hyperbolic concave mirror 3 reflects; Start vehicle to advance, the speed of a motor vehicle should be not too fast.Panorama camera visual field of the present invention covering radius is generally 6m, and adopt PointGray FLEE Series Industrial collected by camera speed to reach 15fps, adopt more high-resolution collected by camera speed to reach 6fps, therefore theoretical the max speed is generally 6 × 6=36m/s.But consider: 1. gather for a long time, computing machine mass data needs process in real time, and therefore actual frame frequency speed is lower, gets 3fps; 2. for the ease of image mosaic, adjacent image sequence needs to ensure fully many unique points compared with high contact ratio, is therefore equivalent to and reduces visual field radius, get 3m; So reality can operate the speed of a motor vehicle be preferably 3 × 3=9m/s=32.4km/h.This preferred speed of a motor vehicle can, under the prerequisite ensureing image acquisition and processing quality, make the efficiency of image acquisition also farthest be improved.

The pavement image sequence collected is spliced, method can with reference to " " Analysis and Elimination on Aerial Recon Sequential Image Stitching Accumulative Error "; publish in " Journal of Image and Graphics " 2008; 13 (4): 814 ~ 819; author: LI Congli; XUE Mogen, LENG Xiaoyan etc. ".Image sequence can obtain treating exploration highway overall situation figure after picture mosaic, effectively surveys the highway distresses such as such as landslide, depression, frost boiling with convenient construction personnel; And formulate remedial measures in time.

Claims (10)

1. one kind can be installed on the hyperbolic concave surface refractive and reflective panorama camera that vehicle platform carries out pavement image information acquisition, described panorama camera comprises the base that can be installed in vehicle platform and the common perspective camera be installed on this base, the camera lens front of described common perspective camera is provided with the hyperbolic concave mirror that can be used for reflecting pavement image, the optical axis of described hyperbolic concave mirror and the optical axis coincidence of common perspective camera, described hyperbolic concave mirror is connected on described base by liftable support.

2. hyperbolic concave surface refractive and reflective panorama camera according to claim 1, it is characterized in that: described liftable support is three-legged supporting frame, three supporting legs of described three-legged supporting frame are parallel to each other and are laid in around described common perspective camera perpendicular to base, the intersection point of described three supporting legs and base is laid on equilateral leg-of-mutton three summits, and the optical axis of described hyperbolic concave mirror crosses this equilateral leg-of-mutton center.

3. hyperbolic concave surface refractive and reflective panorama camera according to claim 1 and 2, is characterized in that: the geometrical focus F of described hyperbolic concave mirror meets apart from the distance of the centre of perspectivity O of described common perspective camera makes the image relation curve of described panorama camera close to linear change.

4. hyperbolic concave surface refractive and reflective panorama camera according to claim 3, it is characterized in that, described image relation curve establishes in the following manner: be initial point with the centre of perspectivity O of described common perspective camera, be x-axis with horizontal direction, be that z-axis sets up x-z plane coordinate system with vertical direction, this time image plane was the surface level of x-axis, if the horizontal scene at pavement image place is positioned at the z=-H place below picture plane, the geometrical focus F of described hyperbolic concave mirror is made to be positioned at z=h place directly over initial point O; If the coordinate of certain 1 D is (T ,-H) in horizontal scene, be derived from the light at this D place through described hyperbolic concave mirror arrives as plane after P point reflection, if the coordinate of this time point D picture point of correspondence in picture plane is (t, 0); Described image relation curve can be established out on this basis according to light path principle of reflection.

5. hyperbolic concave surface refractive and reflective panorama camera according to claim 1 and 2, is characterized in that: described common perspective camera is installed on described base by the four-dimensional adjusting bracket of optics, and described four-dimensional adjusting bracket refers to that bidimensional translational adjustment adds bidimensional angular adjustment.

6. hyperbolic concave surface refractive and reflective panorama camera according to claim 4, is characterized in that: described common perspective camera is installed on described base by the four-dimensional adjusting bracket of optics, and described four-dimensional adjusting bracket refers to that bidimensional translational adjustment adds bidimensional angular adjustment.

7. a method for making for hyperbolic concave surface refractive and reflective panorama camera as claimed in claim 6, comprises the following steps:

(1) hyperbolic concave surface refractive and reflective panorama camera model is set up:

Be initial point with the centre of perspectivity O of described common perspective camera, be x-axis with horizontal direction, be that z-axis sets up x-z plane coordinate system with vertical direction, this time image plane was the surface level of x-axis, if horizontal scene is positioned at the z=-H place below picture plane, the geometrical focus F of described hyperbolic concave mirror is made to be positioned at z=h place directly over initial point O; If the coordinate of certain 1 D is (T ,-H) in horizontal scene, be derived from the light at this D place through described hyperbolic concave mirror arrives as plane after P point reflection, if the coordinate of this time point D picture point of correspondence in picture plane is (t, 0); On this basis, set up the relation between the x-axis coordinate T of starting point D and the x-axis coordinate of its picture point, draw out image relation curve T=x (t) of described hyperbolic concave surface refractive and reflective panorama camera;

(2) distance of hyperbolic concave mirror and the common perspective camera centre of perspectivity is determined:

Start to adjust the distance h of geometrical focus F to common perspective camera centre of perspectivity O point of described hyperbolic concave mirror, when other Parameter Conditions is constant, upwards progressively move described hyperbolic concave mirror, the z-axis coordinate h of focal point F is increased gradually from 0, and often increase certain distance and draw out image relation curve under this state, until the image relation curve drawn out is close to the adjustment of stop distance h during linear change, the now numerical value h of distance h ₀be the hyperbolic concave mirror of establishment and the distance of the common perspective camera centre of perspectivity;

(3) lens focus and the CCD size of common perspective camera is determined:

If the outermost radius scope that panorama camera intends the horizontal scene covered is R _max, by adjusting common perspective camera erection height H, adjusting the lens focus f of described common perspective camera, outermost radius scope R can be obtained _maxthe lower limit of corresponding common perspective camera CCD minor face half length;

(4) build common perspective camera support and camera demarcated:

Using the four-dimensional adjusting bracket of optics to be installed by described common perspective camera is positioned on base, with liftable support, described hyperbolic concave mirror is installed on base simultaneously, then adopt described hyperbolic concave mirror to fix, described common perspective camera carries out the tactic pattern of finely tuning, by regulating four-dimensional adjusting bracket to make the optical axis of common perspective camera and the optical axis coincidence of hyperbolic concave mirror, complete the fabrication and installation of hyperbolic concave surface refractive and reflective panorama camera.

8. method for making according to claim 7, is characterized in that, in described step (2), often increases the image relation curve that certain distance draws out under this state and refers to that the distance of every minor tick 2mm ~ 6mm draws a width image graph of relation.

9. the application of hyperbolic concave surface refractive and reflective panorama camera in Highway Survey process for the hyperbolic concave surface refractive and reflective panorama camera according to any one of claim 1 ~ 6 or as claimed in claim 7 method for making fabrication and installation, described application specifically refers to the collection this hyperbolic concave surface refractive and reflective panorama camera being installed on vehicle platform laggard walking along the street face image information.

10. application according to claim 9, is characterized in that: in the gatherer process carrying out described pavement image information, the travel speed of vehicle controls at below 32.5km/h.